In this chapter a new sliding mode scheme for reconfigurable control is presented. The controller is based on a state-feedback scheme where the nonlinear unit-vector term is allowed to adaptively increase when the onset of a fault is detected. The scheme is applied to a benchmark aircraft problem. In comparison to other fault tolerant controllers which have been previously implemented on this model, the controllers proposed in this chapter are simple and yet are shown to work across the entire ‘up and away’ flight envelope. Excellent rejection of a certain class of actuator faults is shown. However, the proposed controller cannot directly cope with the total failure of an actuator. In the second half of the chapter, the use of sensor fault reconstruction methods to correct faulty measurements prior to the control law calculations, hence effecting fault tolerant control, is demonstrated. Here, a formal closed-loop analysis is made of the resulting schemes. An example of such a method applied to a benchmark aircraft problem is described.